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<a href="broadphase__test_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * broadphase_test.cc</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Nov 26, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="application__settings_8h.html">collision/application_settings.h</a>&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#if ENABLE_COLLISION_TESTS</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__checker_8h.html">collision/collision_checker.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="collision__object_8h.html">collision/collision_object.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="shape__group_8h.html">collision/shape_group.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rectangle__aabb_8h.html">collision/narrowphase/rectangle_aabb.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__queries_8h.html">collision/solvers/fcl/fcl_collision_queries.h</a>&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="broadphase__test_8h.html">tests/collision/online_tests/broadphase_test.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="test__common_8h.html">tests/collision/online_tests/test_common.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="serialize__public_8h.html">collision/serialize/public/serialize_public.h</a>&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="broadphase__failure_8h.html">tests/collision/online_tests/broadphase_failure.h</a>&quot;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="distance__queries_8h.html">collision/solvers/distance_queries.h</a>&quot;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;sys/stat.h&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;sys/types.h&gt;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacetest.html">test</a> {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">// tests collision checker broadphase algorithms</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">// all narrowphase checks are assumed to be done with FCL solver</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keywordtype">bool</span> CollisionCheckerTest::test_collide(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                                        <span class="keyword">const</span> CollisionChecker *cc) {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="comment">// int col_time;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordtype">bool</span> res_collision_checker = cc-&gt;collide(co, 0, <span class="keyword">false</span>);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  std::vector&lt;collision::CollisionObjectConstPtr&gt; obstacles =</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      cc-&gt;getObstacles();</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordtype">bool</span> res_bruteforce = <span class="keyword">false</span>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;obstacle : obstacles) {</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordflow">if</span> (obstacle-&gt;collide(*(co.get()), CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>))) {</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      res_bruteforce = <span class="keyword">true</span>;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  }</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordflow">if</span> (res_collision_checker != res_bruteforce) {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  }</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;}</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keywordtype">bool</span> CollisionCheckerTest::test_collide_obstacle(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                                                 <span class="keyword">const</span> CollisionChecker *cc) {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <a class="code" href="namespacecollision.html#a4b0347dddcd269a552b35598dff6ddd4">collision::RectangleAABBConstPtr</a> rect1(</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">new</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a>(0, 0, Eigen::Vector2d(0, 0)));</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obst_cc = rect1;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">bool</span> res_cc = cc-&gt;collide(co, obst_cc, <span class="keyword">false</span>, <span class="keyword">false</span>, <span class="keyword">false</span>);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obst_primit = rect1;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">bool</span> res_primitive = <span class="keyword">false</span>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;c : cc-&gt;collision_objects_) {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordflow">if</span> (c-&gt;collide(*co, CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>))) {</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      obst_primit = c;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      res_primitive = <span class="keyword">true</span>;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    }</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordflow">if</span> (res_cc != res_primitive) {</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  }</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keywordtype">bool</span> ShapeGroupTest::cmp(<span class="keyword">const</span> std::pair&lt;int, int&gt; &amp;pair1,</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                         <span class="keyword">const</span> std::pair&lt;int, int&gt; &amp;pair2) {</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">if</span> (pair1.first != pair2.first) {</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">return</span> pair1.first &lt; pair2.first;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">return</span> pair1.second &gt; pair2.second;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keywordtype">bool</span> CollisionCheckerTest::cmp(<span class="keyword">const</span> <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &amp;a,</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                               <span class="keyword">const</span> <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &amp;b) {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">return</span> (a.get() &lt; b.get());</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keywordtype">bool</span> CollisionCheckerTest::test_narrowphase(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                                            <span class="keyword">const</span> CollisionChecker *cc,</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                                            std::vector&lt;int&gt; *failure_export)</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;{</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">if</span> (!co.get())</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="comment">// const FCLCollisionObject* co_fcl = get_fcl_object_ptr(co.get());</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">// if (!co_fcl) return false;</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  std::vector&lt;collision::CollisionObjectConstPtr&gt; children = cc-&gt;getObstacles();</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordtype">int</span> counter = 0;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordtype">bool</span> res = <span class="keyword">true</span>;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;el : children) {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">bool</span> res_fcl = el-&gt;collide(*(co.get()), CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>));</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="comment">// bool res_prim = el-&gt;collide(*(co.get()),</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="comment">// CollisionRequest(COL_PRIMITIVE));</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keywordtype">bool</span> res_def = el-&gt;collide(*(co.get()), CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b">COL_DEFAULT</a>));</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="comment">// bool res_local =  (res_fcl==res_prim &amp;&amp; res_prim==res_def &amp;&amp;</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="comment">// res_def==res_fcl) ;</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordtype">bool</span> res_local = (res_def == res_fcl);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    res = res_local &amp;&amp; res;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">if</span> (!res_local) {</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordflow">if</span> (failure_export)</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        failure_export-&gt;push_back(counter);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    }</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    counter++;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keywordtype">bool</span> CollisionCheckerTest::test_collide_obstacles(</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> CollisionChecker *cc,</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    std::vector&lt;CollisionObjectConstPtr&gt; &amp;missed_obstacles,</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    std::vector&lt;CollisionObjectConstPtr&gt; &amp;missed_obstacles_primit) {</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER_TESTS</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1test.html#af8b3a3504735942b09ce47ad0c33f81a">serialize_broadphase_failure_test</a>(cc, co.get())) {</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;serialization CC_OBJ failed&quot;</span>;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  }</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  std::vector&lt;int&gt; failure_export;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="preprocessor">#if ENABLE_COLLISION_TESTS_NARROWPHASE</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordflow">if</span> (!test_narrowphase(co, cc, &amp;failure_export)) {</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    std::vector&lt;int&gt; failure_export2;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    test_narrowphase(co, cc, &amp;failure_export2);</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <a class="code" href="namespacecollision_1_1test.html#a183ce295a1837280f09ef456a3533b6b">test::serialize_narrowphase_failure</a>(co, cc, failure_export);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  }</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;label1:</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  std::vector&lt;CollisionObjectConstPtr&gt; obstacles_cc;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="comment">// fcl_cc.collideHelper(co,0,&amp;obstacles, -1, false, false);</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordtype">bool</span> res_cc = cc-&gt;collide(co, obstacles_cc, <span class="keyword">false</span>, <span class="keyword">false</span>, <span class="keyword">false</span>);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="comment">/*if (obstacles_cc.size()) // simulates a broadphase failure</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">  {</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">          for (auto iter= obstacles_cc.begin(); iter&lt;obstacles_cc.end(); iter++)</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="comment">          {</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment">                  if ((*iter)-&gt;getCollisionObjectClass() ==</span></div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">  collision::OBJ_CLASS_SHAPE)</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;<span class="comment">                  {</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="comment">                          obstacles_cc.erase(iter);</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="comment">                          break;</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="comment">                  }</span></div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">          }</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="comment">  }</span></div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="comment">  */</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  std::vector&lt;CollisionObjectConstPtr&gt; obstacles_primit;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordtype">bool</span> res_primitive = <span class="keyword">false</span>;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;c : cc-&gt;collision_objects_) {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">if</span> (c-&gt;collide(*co, CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>))) {</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      obstacles_primit.push_back(c);</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      res_primitive = <span class="keyword">true</span>;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    }</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  }</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  std::unordered_map&lt;const CollisionObject *, bool&gt; obstacles_cc_map;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;c : obstacles_cc) {</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    obstacles_cc_map.emplace(c.get(), <span class="keyword">true</span>);</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  }</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  std::unordered_map&lt;const CollisionObject *, bool&gt; obstacles_primit_map;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;c : obstacles_primit) {</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    obstacles_primit_map.emplace(c.get(), <span class="keyword">true</span>);</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  }</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordflow">if</span> ((res_cc == <span class="keyword">false</span>) &amp;&amp; (res_primitive == <span class="keyword">false</span>)) {</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">if</span> ((obstacles_cc.size() == 0) &amp;&amp; (obstacles_primit.size() == 0)) {</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    }</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;c : obstacles_primit) {</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keywordflow">if</span> (obstacles_cc_map.find(c.get()) == obstacles_cc_map.end()) {</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        missed_obstacles.push_back(c);</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      }</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    }</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;c : obstacles_cc) {</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordflow">if</span> (obstacles_primit_map.find(c.get()) == obstacles_primit_map.end()) {</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        missed_obstacles_primit.push_back(c);</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      }</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    }</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">if</span> (res_cc == res_primitive) {</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keywordflow">if</span> ((obstacles_cc.size() == obstacles_primit.size())) {</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        std::sort(obstacles_cc.begin(), obstacles_cc.end(), cmp);</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        std::sort(obstacles_primit.begin(), obstacles_primit.end(), cmp);</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="keywordflow">if</span> (obstacles_cc == obstacles_primit) {</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        } <span class="keywordflow">else</span></div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        std::sort(obstacles_cc.begin(), obstacles_cc.end(), cmp);</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        std::sort(obstacles_primit.begin(), obstacles_primit.end(), cmp);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      }</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    }</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  }</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;}</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="comment">// tests ShapeGroup broadphase algorithms</span></div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="comment">// all narowphase checks are supposed to be done with FCL solver</span></div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="keywordtype">bool</span> ShapeGroupTest::test_collide(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                                  <span class="keyword">const</span> ShapeGroup *sg) {</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordtype">bool</span> res_sg = <span class="keyword">false</span>;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keyword">const</span> FCLCollisionObjectGroup *sg_fcl = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a50aaacd0d14839e82e461617b0fba465">get_fcl_object_group_ptr</a>(sg);</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keyword">const</span> FCLCollisionObject *co_fcl = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ab54054c0932ec90631ea307be67c38fc">get_fcl_object_ptr</a>(co.get());</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keywordflow">if</span> (!sg_fcl || !co_fcl)</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  res_sg = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_primitive_queries::fcl_generic_collisionDetection</a>(</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      *sg_fcl, *co_fcl, <span class="keyword">false</span>);</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  std::vector&lt;collision::ShapeConstPtr&gt; obstacles = sg-&gt;shapes_;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordtype">bool</span> res_bruteforce = <span class="keyword">false</span>;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;obstacle : obstacles) {</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordflow">if</span> (obstacle-&gt;collide(*(co.get()), CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>))) {</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      res_bruteforce = <span class="keyword">true</span>;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    }</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  }</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keywordflow">if</span> (res_bruteforce != res_sg) {</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keywordtype">int</span> cont = 1;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  }</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="keywordflow">return</span> res_bruteforce == res_sg;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;}</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="keywordtype">bool</span> ShapeGroupTest::test_collide(<span class="keyword">const</span> ShapeGroup *sg1,</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                                  <span class="keyword">const</span> ShapeGroup *sg2) {</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordtype">bool</span> res_sg = <span class="keyword">false</span>;</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keyword">const</span> FCLCollisionObjectGroup *sg1_fcl = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a50aaacd0d14839e82e461617b0fba465">get_fcl_object_group_ptr</a>(sg1);</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="keyword">const</span> FCLCollisionObjectGroup *sg2_fcl = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a50aaacd0d14839e82e461617b0fba465">get_fcl_object_group_ptr</a>(sg2);</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordflow">if</span> (!sg1_fcl || !sg2_fcl)</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  res_sg = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">fcl_primitive_queries::fcl_generic_collisionDetection</a>(</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      *sg1_fcl, *sg2_fcl, <span class="keyword">false</span>);</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  std::vector&lt;collision::ShapeConstPtr&gt; obstacles1 = sg1-&gt;unpack();</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  std::vector&lt;collision::ShapeConstPtr&gt; obstacles2 = sg2-&gt;unpack();</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keywordtype">bool</span> res_bruteforce = <span class="keyword">false</span>;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  std::vector&lt;std::pair&lt;int, int&gt;&gt; overlap_res = sg1-&gt;overlap(*sg2);</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="keywordtype">bool</span> res2 = <span class="keyword">false</span>;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;res1 : overlap_res) {</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keywordflow">if</span> (obstacles1[res1.first]-&gt;collide(*obstacles2[res1.second])) {</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      res2 = <span class="keyword">true</span>;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    }</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  }</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> obstacle1 : obstacles1) {</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> obstacle2 : obstacles2) {</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordflow">if</span> (obstacle1-&gt;collide(*obstacle2, CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>))) {</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        res_bruteforce = <span class="keyword">true</span>;</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      }</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    }</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  }</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordflow">return</span> res_bruteforce == res_sg;</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;}</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="keywordtype">bool</span> ShapeGroupTest::test_narrowphase(</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keyword">const</span> ShapeGroup *sg1, <span class="keyword">const</span> ShapeGroup *sg2,</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    std::vector&lt;std::pair&lt;int, int&gt;&gt; *failure_pair_export)</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;{</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  std::vector&lt;collision::ShapeConstPtr&gt; obstacles1 = sg1-&gt;shapes_;</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordtype">int</span> counter1 = 0;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  std::vector&lt;int&gt; failure_export;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keywordtype">bool</span> res = <span class="keyword">true</span>;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;obstacle : obstacles1) {</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    failure_export.clear();</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    res = test_narrowphase(obstacle, sg2, &amp;failure_export) &amp;&amp; res;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> el : failure_export) {</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keywordflow">if</span> (failure_pair_export)</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        failure_pair_export-&gt;emplace_back(counter1, el);</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    }</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    counter1++;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  }</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;}</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="keywordtype">bool</span> ShapeGroupTest::test_narrowphase(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                                      <span class="keyword">const</span> ShapeGroup *sg,</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;                                      std::vector&lt;int&gt; *failure_export)</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;{</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keyword">const</span> FCLCollisionObject *co_fcl = <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ab54054c0932ec90631ea307be67c38fc">get_fcl_object_ptr</a>(co.get());</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  <span class="keywordflow">if</span> (!co_fcl)</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  std::vector&lt;collision::ShapeConstPtr&gt; shapes = sg-&gt;shapes_;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="keywordtype">int</span> counter = 0;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="keywordtype">bool</span> res = <span class="keyword">true</span>;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;shape : shapes) {</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    <span class="keywordflow">if</span> (shape-&gt;type() == <a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7">TYPE_POLYGON</a>) {</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <a class="code" href="classcollision_1_1_shape_group.html">collision::ShapeGroup</a> triangles_sg;</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keyword">const</span> <a class="code" href="classcollision_1_1_polygon.html">collision::Polygon</a> *shape_polyg =</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;          static_cast&lt;const collision::Polygon *&gt;(shape.get());</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      std::vector&lt;TriangleConstPtr&gt; triangles = shape_polyg-&gt;<a class="code" href="classcollision_1_1_polygon.html#a6c6fe0fa3c4ddac8549dd2149f106638">getTriangleMesh</a>();</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;tri : triangles) {</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        triangles_sg.<a class="code" href="classcollision_1_1_shape_group.html#a0a570ef4b0d6ee7ea2f2f1721d528a43">addToGroup</a>(tri);</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      }</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="keywordtype">bool</span> res_local = ShapeGroupTest::test_narrowphase(co, &amp;triangles_sg, 0);</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      res = res_local &amp;&amp; res;</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <span class="keywordflow">if</span> (!res_local) {</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="keywordflow">if</span> (failure_export)</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;          failure_export-&gt;push_back(counter);</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      }</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      <span class="comment">// bool res_local = shape-&gt;collide(*(co.get()), CollisionRequest(COL_FCL))</span></div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <span class="comment">// == shape-&gt;collide(*(co.get()), CollisionRequest(COL_PRIMITIVE));</span></div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="keywordtype">bool</span> res_local =</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          shape-&gt;collide(*(co.get()), CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>)) ==</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          shape-&gt;collide(*(co.get()), CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b">COL_DEFAULT</a>));</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      res = res_local &amp;&amp; res;</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      <span class="keywordflow">if</span> (!res_local) {</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <span class="keywordflow">if</span> (failure_export)</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;          failure_export-&gt;push_back(counter);</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      }</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    }</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    counter++;</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  }</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;}</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_collision_checker_test.html#ad6f104b12727529c3e91b29b21e07f6b">CollisionCheckerTest::run_test_collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                                            <span class="keyword">const</span> CollisionChecker *cc) {</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  <span class="keywordtype">bool</span> res = test_collide(co, cc);</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <span class="keywordflow">if</span> (!res) {</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(co, cc);</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  }</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;}</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_collision_checker_test.html#adea6847b8308d19c0ed26f6acc169bec">CollisionCheckerTest::run_test_collide_obstacle</a>(</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> CollisionChecker *cc) {</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <span class="keywordtype">bool</span> res = test_collide_obstacle(co, cc);</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  <span class="keywordflow">if</span> (!res) {</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(co, cc);</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  }</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;}</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_collision_checker_test.html#aa064302d3248cdbd8985ae9f9d06a9fa">CollisionCheckerTest::run_test_collide_obstacles</a>(</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> CollisionChecker *cc) {</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <span class="keywordflow">if</span> (0 &amp;&amp; <a class="code" href="namespacecollision_1_1test.html#af8b3a3504735942b09ce47ad0c33f81a">serialize_broadphase_failure_test</a>(cc, co.get())) {</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;serialization CC obj failed&quot;</span>;</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  }</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  std::vector&lt;CollisionObjectConstPtr&gt; missed_obstacles;</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  std::vector&lt;CollisionObjectConstPtr&gt; missed_obstacles_primit;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <span class="keywordtype">bool</span> res =</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      test_collide_obstacles(co, cc, missed_obstacles, missed_obstacles_primit);</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  <span class="keywordflow">if</span> (!res) {</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    <span class="comment">// log_broadphase_failure(co, cc);</span></div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    CollisionChecker cc2;</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;obst : missed_obstacles) {</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <span class="comment">// bool naive_collide = obst-&gt;collide(*co,</span></div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      <span class="comment">// CollisionRequest(COL_PRIMITIVE));</span></div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      <span class="keywordtype">bool</span> naive_collide = obst-&gt;collide(*co, CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b">COL_DEFAULT</a>));</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <span class="keywordtype">bool</span> non_naive_collide = obst-&gt;collide(*co, CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>));</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      cc2.addCollisionObject(obst);</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    }</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;obst : missed_obstacles_primit) {</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      <span class="comment">// bool naive_collide = obst-&gt;collide(*co,</span></div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <span class="comment">// CollisionRequest(COL_PRIMITIVE));</span></div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <span class="keywordtype">bool</span> naive_collide = obst-&gt;collide(*co, CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b">COL_DEFAULT</a>));</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      <span class="keywordtype">bool</span> non_naive_collide = obst-&gt;collide(*co, CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>));</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      std::cout &lt;&lt; <span class="stringliteral">&quot;narrowphase internal failure&quot;</span>;</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    }</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <span class="keywordtype">bool</span> tolerance_result = <a class="code" href="namespacecollision_1_1test.html#afc7e93e0813ceb9bb9ae532ce7931edd">test_tolerance_check</a>(co, &amp;cc2);</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    std::vector&lt;CollisionObjectConstPtr&gt; new_obstacles;</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <span class="keywordflow">if</span> (tolerance_result) {</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <a class="code" href="namespacecollision_1_1test.html#afc7e93e0813ceb9bb9ae532ce7931edd">test_tolerance_check</a>(co, &amp;cc2);</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      cc-&gt;collide(co, new_obstacles, <span class="keyword">false</span>, <span class="keyword">false</span>, <span class="keyword">false</span>);</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      cc-&gt;collide(co);</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(co, cc);</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    }</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;obst : missed_obstacles) {</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;obst2 : new_obstacles) {</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        <span class="keywordflow">if</span> (obst == obst2) {</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;found&quot;</span>;</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        }</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      }</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    }</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  }</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;}</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;<span class="keywordtype">int</span> ToleranceCheck(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj1, <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2,</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;                   <span class="keywordtype">bool</span> &amp;tolerance_result, <span class="keywordtype">double</span> &amp;<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>,</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;                   <span class="keywordtype">bool</span> narrowphase = <span class="keyword">false</span>) {</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  DistanceRequest req;</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  DistanceResult res;</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  req.dist_request_type = <a class="code" href="namespacecollision.html#a635c8291d80696e1bb292dbb51c8d447a9f0b2f5aaa70665345134e2b8fc007a9">DistanceRequestType::DRT_TOLERANCE_NEG</a>;</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="preprocessor">#if TOLERANCE_BBONLY</span></div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  req.dist_node_type = <a class="code" href="namespacecollision.html#a3bbf810574830553bd17aafbd8564451a8d349a60446229f9254fc56c00ad4ea9">DistanceNodeType::DNT_AABB</a>;</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  req.dist_node_type = <a class="code" href="namespacecollision.html#a3bbf810574830553bd17aafbd8564451a5421ae9fbe53e10620ba9c6fd709d4f4">DistanceNodeType::DNT_NARROWPHASE</a>;</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  <span class="keywordflow">if</span> (narrowphase) {</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    req.dist_node_type = <a class="code" href="namespacecollision.html#a3bbf810574830553bd17aafbd8564451a5421ae9fbe53e10620ba9c6fd709d4f4">DistanceNodeType::DNT_NARROWPHASE</a>;</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  }</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">collision::distance</a>(*obj1, *obj2, res, req) &gt;= 0) {</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    tolerance_result = res.getTolerancePassed();</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    tolerance_result = <span class="keyword">false</span>;</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  }</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;}</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#a2c2d47482f2494547b4fd4a16a023cde">ShapeGroupTest::test_overlap_map</a>(</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    <span class="keyword">const</span> ShapeGroup *sg1, <span class="keyword">const</span> ShapeGroup *sg2,</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    std::vector&lt;std::pair&lt;int, int&gt;&gt; *missed_col_naive_out) {</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  std::vector&lt;std::pair&lt;int, int&gt;&gt; res = sg1-&gt;overlap(*sg2);</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  std::vector&lt;collision::ShapeConstPtr&gt; obstacles1 = sg1-&gt;unpack();</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  std::vector&lt;collision::ShapeConstPtr&gt; obstacles2 = sg2-&gt;unpack();</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  std::vector&lt;std::pair&lt;int, int&gt;&gt; overlap_res = sg1-&gt;overlap(*sg2);</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  std::vector&lt;std::pair&lt;int, int&gt;&gt; overlap_res2;</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  <span class="keywordtype">bool</span> res2 = <span class="keyword">false</span>;</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cc1 = 0; cc1 &lt; obstacles1.size(); cc1++) {</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cc2 = 0; cc2 &lt; obstacles2.size(); cc2++) {</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      <span class="keywordflow">if</span> (obstacles1[cc1]-&gt;collide(*obstacles2[cc2],</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;                                   CollisionRequest(<a class="code" href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">COL_FCL</a>))) {</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        overlap_res2.emplace_back(cc1, cc2);</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;      }</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    }</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  }</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  <span class="comment">/*</span></div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;<span class="comment">  if (overlap_res.size()) // simulates a broadphase failure</span></div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;<span class="comment">  {</span></div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;<span class="comment">          for (auto iter= overlap_res.begin(); iter&lt;overlap_res.end(); iter++)</span></div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;<span class="comment">          {</span></div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;<span class="comment">                  overlap_res.erase(iter);</span></div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;<span class="comment">                  break;</span></div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;<span class="comment">          }</span></div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;<span class="comment">  }</span></div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;<span class="comment">  */</span></div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="comment">// test function returning ordered list of pairs</span></div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  std::sort(overlap_res.begin(), overlap_res.end(), cmp);</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  std::sort(overlap_res2.begin(), overlap_res2.end(), cmp);</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  std::vector&lt;std::pair&lt;int, int&gt;&gt; missed_col;</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;  <span class="keywordtype">bool</span> local_failure1 = !(overlap_res == overlap_res2);</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  <span class="keywordflow">if</span> (local_failure1) {</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    local_failure1 = <span class="keyword">false</span>;</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    std::map&lt;std::pair&lt;int, int&gt;, <span class="keywordtype">bool</span>&gt; overlap_res_hash;</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> res1 : overlap_res) {</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      overlap_res_hash.emplace(res1, <span class="keyword">true</span>);</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    }</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> res2 : overlap_res2) {</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      <span class="keywordflow">if</span> (overlap_res_hash.find(res2) == overlap_res_hash.end()) {</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        missed_col.push_back(res2);</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      }</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;    }</div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> miss : missed_col) {</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      <span class="keywordtype">bool</span> tolerance_result = <span class="keyword">false</span>;</div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>;</div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      <span class="keywordtype">int</span> tol_res =</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;          ToleranceCheck(obstacles1[miss.first], obstacles2[miss.second],</div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;                         tolerance_result, <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>);</div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;</div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;      <span class="keywordflow">if</span> (!tolerance_result) {</div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        local_failure1 = <span class="keyword">true</span>;</div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;      }</div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    }</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  }</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  <span class="keywordflow">if</span> (overlap_res.size() + missed_col.size() &gt;</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      overlap_res2.size()) <span class="comment">// if returned extra pairs</span></div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;  {</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    std::map&lt;std::pair&lt;int, int&gt;, <span class="keywordtype">bool</span>&gt; overlap_res2_hash;</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> res2 : overlap_res2) {</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      overlap_res2_hash.emplace(res2, <span class="keyword">true</span>);</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;    }</div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;    std::vector&lt;std::pair&lt;int, int&gt;&gt; missed_col_naive;</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> res : overlap_res) {</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      <span class="keywordflow">if</span> (overlap_res2_hash.find(res) == overlap_res2_hash.end()) {</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        missed_col_naive.push_back(res);</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      }</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    }</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> miss : missed_col_naive) {</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      <span class="keywordtype">bool</span> tolerance_result = <span class="keyword">false</span>;</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      <span class="keywordtype">bool</span> tolerance_result2 = <span class="keyword">false</span>;</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>;</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;      <span class="keywordtype">int</span> tol_res =</div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;          ToleranceCheck(obstacles1[miss.first], obstacles2[miss.second],</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;                         tolerance_result, <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>);</div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      <span class="keywordflow">if</span> (!tolerance_result) {</div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;        local_failure1 = <span class="keyword">true</span>;</div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;      }</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    }</div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    <span class="keywordflow">if</span> (missed_col_naive_out) {</div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;      *missed_col_naive_out = missed_col_naive;</div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;    }</div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    <span class="comment">// local_failure1 = true;</span></div><div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;  }</div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;  <span class="comment">// test that after hashmapping no new collisions are listed</span></div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;</div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;  <span class="keywordflow">if</span> (local_failure1)</div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;</div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;  std::map&lt;std::pair&lt;int, int&gt;, <span class="keywordtype">bool</span>&gt; overlap_res_hash;</div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> res2 : overlap_res) {</div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;    overlap_res_hash.emplace(res2, <span class="keyword">true</span>);</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  }</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;  std::vector&lt;std::set&lt;int&gt;&gt; overlap_map_result = sg1-&gt;overlapMap(*sg2);</div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  <span class="keywordtype">bool</span> true_failure = <span class="keyword">true</span>;</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;  <span class="keywordtype">bool</span> local_failure2 = <span class="keyword">false</span>;</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cc1 = 0; cc1 &lt; overlap_map_result.size(); cc1++) {</div><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;    std::set&lt;int&gt; iter1 = overlap_map_result[cc1];</div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> cc2 : iter1) {</div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      <span class="keywordflow">if</span> (overlap_res_hash.find(std::pair&lt;int, int&gt;(cc1, cc2)) ==</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;          overlap_res_hash.end()) {</div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        local_failure2 = <span class="keyword">true</span>;</div><div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;      }</div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    }</div><div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    <span class="keywordflow">if</span> (local_failure2)</div><div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  }</div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  <span class="keywordflow">if</span> (local_failure2)</div><div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;</div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  <span class="comment">// test that no collisions are missed after hashmapping</span></div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  <span class="keywordtype">bool</span> local_failure3 = <span class="keyword">false</span>;</div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> res1 : overlap_res) {</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    <span class="keywordflow">if</span> (overlap_map_result[res1.first].find(res1.second) ==</div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;        overlap_map_result[res1.first].end()) {</div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      <span class="comment">// overlap pair not found in the overlap_map result</span></div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      local_failure3 = <span class="keyword">true</span>;</div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;    }</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  }</div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  <span class="keywordflow">if</span> (local_failure3)</div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;  true_failure = local_failure1 || local_failure2 || local_failure3;</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  <span class="keywordflow">return</span> !true_failure;</div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;}</div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;</div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#ad41dbbaf44670796d414e27cd9457a53">ShapeGroupTest::run_test_collide</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;                                      <span class="keyword">const</span> ShapeGroup *sg) {</div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;  <span class="keywordtype">bool</span> res = test_collide(co, sg);</div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER_TESTS</span></div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1test.html#af8b3a3504735942b09ce47ad0c33f81a">serialize_broadphase_failure_test</a>(sg, co.get())) {</div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;serializer OBJ OBJ failed&quot;</span>;</div><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  }</div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  <span class="keywordflow">if</span> (!res) {</div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    <span class="keywordtype">bool</span> local_failure1 = <span class="keyword">false</span>;</div><div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> el : sg-&gt;unpack()) {</div><div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      <span class="keywordtype">bool</span> tolerance_result = <span class="keyword">false</span>;</div><div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;      <span class="keywordtype">double</span> <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>;</div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;      <span class="keywordtype">int</span> tol_res = ToleranceCheck(el, co, tolerance_result, <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>);</div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;      <span class="keywordflow">if</span> (!tolerance_result) {</div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;        local_failure1 = <span class="keyword">true</span>;</div><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;        <span class="keywordflow">break</span>;</div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;      }</div><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;    }</div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;    <span class="keywordflow">if</span> (local_failure1) {</div><div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;      res = test_collide(co, sg);</div><div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;</div><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;      <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(co, sg);</div><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    }</div><div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  }</div><div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;}</div><div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#ad41dbbaf44670796d414e27cd9457a53">ShapeGroupTest::run_test_collide</a>(<span class="keyword">const</span> ShapeGroup *sg1,</div><div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;                                      <span class="keyword">const</span> ShapeGroup *sg2) {</div><div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;  <span class="keywordtype">bool</span> res = test_collide(sg1, sg2);</div><div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  <span class="comment">// bool res2=true;</span></div><div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  <span class="keywordtype">bool</span> res2 = <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#a2c2d47482f2494547b4fd4a16a023cde">test_overlap_map</a>(sg1, sg2);</div><div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  test::BroadphaseFailureObjObj bf;</div><div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;  bf.obj1 = sg1-&gt;shared_from_this();</div><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  bf.obj2 = sg2-&gt;shared_from_this();</div><div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER_TESTS</span></div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1test.html#af8b3a3504735942b09ce47ad0c33f81a">serialize_broadphase_failure_test</a>(sg1, sg2)) {</div><div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;serializer OBJ OBJ failed&quot;</span>;</div><div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  }</div><div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;  <span class="comment">// if(1)</span></div><div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  <span class="keywordflow">if</span> (!res || !res2)</div><div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;  <span class="comment">// if (!res || !res2)</span></div><div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;  {</div><div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;</div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    res = test_collide(sg1, sg2);</div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    res2 = <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#a2c2d47482f2494547b4fd4a16a023cde">test_overlap_map</a>(sg1, sg2);</div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;    <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(sg1, sg2);</div><div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;  }</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  <span class="keywordflow">return</span> res &amp;&amp; res2;</div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;}</div><div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;</div><div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#adc5f5a28b1a6cee9de57a69f15f3e0bc">ShapeGroupTest::run_test_narrowphase</a>(<span class="keyword">const</span> ShapeGroup *sg1,</div><div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;                                          <span class="keyword">const</span> ShapeGroup *sg2) {</div><div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  std::vector&lt;std::pair&lt;int, int&gt;&gt; failure_pair_export;</div><div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;  <span class="keywordtype">bool</span> res = test_narrowphase(sg1, sg2, &amp;failure_pair_export);</div><div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;  <span class="keywordflow">if</span> (!res) {</div><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    <a class="code" href="namespacecollision_1_1test.html#a1a0cfe3788cdfe0cfef2ea514f587542">log_narrowphase_failure</a>(sg1, sg2, failure_pair_export);</div><div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  }</div><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;}</div><div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;</div><div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1test_1_1_shape_group_test.html#adc5f5a28b1a6cee9de57a69f15f3e0bc">ShapeGroupTest::run_test_narrowphase</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;                                          <span class="keyword">const</span> ShapeGroup *sg) {</div><div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;  std::vector&lt;int&gt; failure_export;</div><div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;  <span class="keywordtype">bool</span> res = test_narrowphase(co, sg, &amp;failure_export);</div><div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;  <span class="keywordflow">if</span> (!res) {</div><div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;    <a class="code" href="namespacecollision_1_1test.html#a1a0cfe3788cdfe0cfef2ea514f587542">log_narrowphase_failure</a>(co, sg, failure_export);</div><div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;  }</div><div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;}</div><div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a5af3e71a3a130019e8ca5549b422cd8c">serialize_narrowphase_failure_helper_obj</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj1,</div><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;                                             <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2) {</div><div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;  <span class="keywordtype">int</span> res = 0;</div><div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;  <span class="comment">// if ((obj1-&gt;getCollisionObjectClass() == collision::OBJ_CLASS_SHAPE) &amp;&amp;</span></div><div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;  <span class="comment">// (obj2-&gt;getCollisionObjectClass() == collision::OBJ_CLASS_SHAPE))</span></div><div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;  <span class="comment">//{</span></div><div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;  <span class="comment">//    return</span></div><div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;  <span class="comment">//serialize_narrowphase_failure_helper(std::static_pointer_cast&lt;const</span></div><div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;  <span class="comment">//Shape&gt;(obj1), std::static_pointer_cast&lt;const Shape&gt;(obj2));</span></div><div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;  <span class="comment">//}</span></div><div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;  <span class="keywordtype">int</span> type1 = obj1-&gt;getCollisionObjectType();</div><div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  <span class="keywordtype">int</span> type2 = obj2-&gt;getCollisionObjectType();</div><div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  <span class="keywordflow">if</span> (type1 &gt; type2) {</div><div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;    std::swap(type1, type2);</div><div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;  }</div><div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  std::string descriptor = <span class="stringliteral">&quot;narrowphase_failure_obj_obj&quot;</span>;</div><div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  descriptor += std::to_string(type1) + std::string(<span class="stringliteral">&quot;_&quot;</span>) +</div><div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;                std::to_string(type2) + std::string(<span class="stringliteral">&quot;.dump&quot;</span>);</div><div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;  std::string filename =</div><div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;      <a class="code" href="namespacecollision_1_1test.html#af0536b7bcba1a80ae6aa4907f88f12b0">get_free_file</a>(descriptor, 100, NARROWPHASE_DUMP_DIRECTORY);</div><div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;  <span class="keywordflow">if</span> (filename != std::string(<span class="stringliteral">&quot;&quot;</span>)) {</div><div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;    test::BroadphaseFailureObjObj failure_export;</div><div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;    failure_export.obj1 = obj1;</div><div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;    failure_export.obj2 = obj2;</div><div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;    std::ofstream ofs(filename, std::ofstream::out);</div><div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize::serialize</a>(failure_export, ofs)) {</div><div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;      res = -1;</div><div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;    }</div><div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;    ofs.close();</div><div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;  }</div><div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;}</div><div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;</div><div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a6b8e7afe85eba8f28f984a68370c4af0">serialize_narrowphase_failure_helper</a>(<a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> obj1,</div><div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;                                         <a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> obj2) {</div><div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;  <span class="keywordtype">int</span> res = 0;</div><div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;</div><div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;  <span class="keywordtype">int</span> type1 = obj1-&gt;type();</div><div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;  <span class="keywordtype">int</span> type2 = obj2-&gt;type();</div><div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;</div><div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;  <span class="keywordflow">if</span> (type1 &gt; type2) {</div><div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    std::swap(type1, type2);</div><div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;  }</div><div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;  std::string descriptor = <span class="stringliteral">&quot;narrowphase_failure_&quot;</span>;</div><div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;  descriptor += std::to_string(type1) + std::string(<span class="stringliteral">&quot;_&quot;</span>) +</div><div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;                std::to_string(type2) + std::string(<span class="stringliteral">&quot;.dump&quot;</span>);</div><div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;  std::string filename =</div><div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;      <a class="code" href="namespacecollision_1_1test.html#af0536b7bcba1a80ae6aa4907f88f12b0">get_free_file</a>(descriptor, 100, NARROWPHASE_DUMP_DIRECTORY);</div><div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;  <span class="keywordflow">if</span> (filename != std::string(<span class="stringliteral">&quot;&quot;</span>)) {</div><div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;    test::BroadphaseFailureObjObj failure_export;</div><div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;    failure_export.obj1 = obj1;</div><div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;    failure_export.obj2 = obj2;</div><div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;    std::ofstream ofs(filename, std::ofstream::out);</div><div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize::serialize</a>(failure_export, ofs)) {</div><div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;      res = -1;</div><div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;    }</div><div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;    ofs.close();</div><div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;  }</div><div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;</div><div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;  <span class="keywordtype">bool</span> tolerance_result;</div><div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>;</div><div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;  <span class="keywordtype">int</span> tol_res = ToleranceCheck(obj1, obj2, tolerance_result, <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a>, <span class="keyword">true</span>);</div><div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;  <span class="keywordflow">if</span> (!tolerance_result) {</div><div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;    std::string descriptor = <span class="stringliteral">&quot;narrowphase_failure_tolerance_checked&quot;</span>;</div><div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;    descriptor += std::to_string(type1) + std::string(<span class="stringliteral">&quot;_&quot;</span>) +</div><div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;                  std::to_string(type2) + std::string(<span class="stringliteral">&quot;.dump&quot;</span>);</div><div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;    std::string filename =</div><div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;        <a class="code" href="namespacecollision_1_1test.html#af0536b7bcba1a80ae6aa4907f88f12b0">get_free_file</a>(descriptor, 100, NARROWPHASE_DUMP_DIRECTORY);</div><div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;    <span class="keywordflow">if</span> (filename != std::string(<span class="stringliteral">&quot;&quot;</span>)) {</div><div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;      test::BroadphaseFailureObjObj failure_export;</div><div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;      failure_export.obj1 = obj1;</div><div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;      failure_export.obj2 = obj2;</div><div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;      std::ofstream ofs(filename, std::ofstream::out);</div><div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize::serialize</a>(failure_export, ofs)) {</div><div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;        res = -1;</div><div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;      }</div><div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;      ofs.close();</div><div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;    }</div><div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;  }</div><div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;</div><div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;}</div><div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;</div><div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a183ce295a1837280f09ef456a3533b6b">serialize_narrowphase_failure</a>(</div><div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;    <span class="keyword">const</span> ShapeGroup *sg1, <span class="keyword">const</span> ShapeGroup *sg2,</div><div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;    <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, int&gt;&gt; &amp;failure_pair_export) {</div><div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;  <span class="keywordtype">int</span> res = 0;</div><div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;  std::vector&lt;collision::ShapeConstPtr&gt; obstacles1 = sg1-&gt;unpack();</div><div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;  std::vector&lt;collision::ShapeConstPtr&gt; obstacles2 = sg2-&gt;unpack();</div><div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> el : failure_pair_export) {</div><div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    <a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> obj1 = obstacles1[el.first];</div><div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;    <a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> obj2 = obstacles2[el.second];</div><div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1test.html#a6b8e7afe85eba8f28f984a68370c4af0">serialize_narrowphase_failure_helper</a>(obj1, obj2)) {</div><div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;      res = -1;</div><div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;    }</div><div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;  }</div><div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;}</div><div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a183ce295a1837280f09ef456a3533b6b">serialize_narrowphase_failure</a>(<a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> co, <span class="keyword">const</span> ShapeGroup *sg,</div><div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;failure_export) {</div><div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;  <span class="keywordtype">int</span> res = 0;</div><div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;  std::vector&lt;collision::ShapeConstPtr&gt; obstacles1 = sg-&gt;unpack();</div><div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> el : failure_export) {</div><div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;    <a class="code" href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">ShapeConstPtr</a> obj1 = obstacles1[el];</div><div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1test.html#a6b8e7afe85eba8f28f984a68370c4af0">serialize_narrowphase_failure_helper</a>(co, obj1)) {</div><div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;      res = -1;</div><div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;    }</div><div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  }</div><div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;}</div><div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;</div><div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a183ce295a1837280f09ef456a3533b6b">serialize_narrowphase_failure</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;                                  <span class="keyword">const</span> CollisionChecker *cc,</div><div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;failure_export) {</div><div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;  <span class="keywordtype">int</span> res = 0;</div><div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  std::vector&lt;collision::CollisionObjectConstPtr&gt; obstacles1 =</div><div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;      cc-&gt;getObstacles();</div><div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> el : failure_export) {</div><div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="namespacecollision_1_1test.html#a5af3e71a3a130019e8ca5549b422cd8c">serialize_narrowphase_failure_helper_obj</a>(co, obstacles1[el])) {</div><div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;      res = -1;</div><div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;    }</div><div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;  }</div><div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;}</div><div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;</div><div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a1a0cfe3788cdfe0cfef2ea514f587542">log_narrowphase_failure</a>(</div><div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;    <span class="keyword">const</span> ShapeGroup *sg1, <span class="keyword">const</span> ShapeGroup *sg2,</div><div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;    <span 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name="l00783"></a><span class="lineno">  783</span>&#160;  outstrstream &lt;&lt; <span class="stringliteral">&quot;[/Narrowphase failure]&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  TestFailureLoggerNarrowphase logger;</div><div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;  logger.log_failure(outstrstream.str());</div><div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;}</div><div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;</div><div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a1a0cfe3788cdfe0cfef2ea514f587542">log_narrowphase_failure</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> ShapeGroup *sg,</div><div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;                            <span class="keyword">const</span> std::vector&lt;int&gt; &amp;failure_export) {</div><div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;  <span class="keywordflow">if</span> (co-&gt;getCollisionObjectClass() ==</div><div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;      <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843faef4730e258514d4a36debe756989c1cf">collision::CollisionObjectClass::OBJ_CLASS_SHAPE</a>) {</div><div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;    <a class="code" href="namespacecollision_1_1test.html#a183ce295a1837280f09ef456a3533b6b">serialize_narrowphase_failure</a>(std::static_pointer_cast&lt;const Shape&gt;(co), sg,</div><div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;                                  failure_export);</div><div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;    std::ostringstream outstrstream;</div><div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;    outstrstream &lt;&lt; <span class="stringliteral">&quot;[Narrowphase failure]&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;    <span class="comment">// co-&gt;toString(outstrstream);</span></div><div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;    <span class="comment">// cc-&gt;toString(outstrstream);</span></div><div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;    outstrstream &lt;&lt; <span class="stringliteral">&quot;[/Narrowphase failure]&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;    TestFailureLoggerNarrowphase logger;</div><div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;    logger.log_failure(outstrstream.str());</div><div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;  }</div><div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;}</div><div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a2385c8f84fe008797bc23bea612685a4">log_parentmap_failure</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co) {</div><div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;  std::ostringstream outstrstream;</div><div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;  outstrstream &lt;&lt; <span class="stringliteral">&quot;[Parentmap failure]&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;  co-&gt;toString(outstrstream);</div><div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;  outstrstream &lt;&lt; <span class="stringliteral">&quot;[/Parentmap failure]&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;  TestFailureLoggerParentMap logger;</div><div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;  logger.log_failure(outstrstream.str());</div><div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;}</div><div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;</div><div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;<span class="keywordtype">int</span> dirExists(<span class="keyword">const</span> <span class="keywordtype">char</span> *path) {</div><div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;  <span class="keyword">struct </span>stat info;</div><div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;</div><div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;  <span class="keywordflow">if</span> (stat(path, &amp;info) != 0)</div><div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (info.st_mode &amp; S_IFDIR)</div><div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;    <span class="keywordflow">return</span> 1;</div><div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;  <span class="keywordflow">else</span></div><div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;}</div><div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;</div><div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;std::string <a class="code" href="namespacecollision_1_1test.html#af0536b7bcba1a80ae6aa4907f88f12b0">get_free_file</a>(std::string prefix, <span class="keywordtype">int</span> max_files,</div><div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;                          std::string directory) {</div><div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;  std::string full_name_test = directory;</div><div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;  <span class="keywordflow">if</span> (!dirExists(full_name_test.c_str())) {</div><div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;    <span class="keywordflow">return</span> std::string(<span class="stringliteral">&quot;&quot;</span>);</div><div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;  }</div><div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cc1 = 0; cc1 &lt; max_files; cc1++) {</div><div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;    full_name_test = directory + std::string(<span class="stringliteral">&quot;/&quot;</span>) + prefix + std::string(<span class="stringliteral">&quot;_&quot;</span>) +</div><div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;                     std::to_string(cc1) + std::string(<span class="stringliteral">&quot;.dump&quot;</span>);</div><div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;    std::ifstream f(full_name_test.c_str());</div><div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;    <span class="keywordflow">if</span> (!f.good()) {</div><div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;      <span class="keywordflow">return</span> full_name_test;</div><div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;    }</div><div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;  }</div><div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;  <span class="keywordflow">return</span> std::string(<span class="stringliteral">&quot;&quot;</span>);</div><div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;}</div><div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#af8b3a3504735942b09ce47ad0c33f81a">serialize_broadphase_failure_test</a>(<span class="keyword">const</span> CollisionObject *obj1,</div><div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;                                      <span class="keyword">const</span> CollisionObject *obj2) {</div><div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;  test::BroadphaseFailureObjObj bf;</div><div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;  bf.obj1 = obj1-&gt;shared_from_this();</div><div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;  bf.obj2 = obj2-&gt;shared_from_this();</div><div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;  std::stringstream strstr1;</div><div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;  std::stringstream strstr2;</div><div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;  std::string str1;</div><div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;  std::string str2;</div><div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;  <a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize::serialize</a>(bf, strstr1);</div><div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;  str1 = strstr1.str();</div><div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;  BroadphaseFailureObjObj bf_load;</div><div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;  <a class="code" href="namespacecollision_1_1serialize.html#afa68d93c7ceeaba3b3a6a32bf9917aba">serialize::deserialize</a>(bf_load, strstr1);</div><div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;  <span class="keywordflow">if</span> (bf_load.obj1.get() &amp;&amp; bf_load.obj2.get()) {</div><div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;    <a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize::serialize</a>(bf_load, strstr2);</div><div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;    str2 = strstr2.str();</div><div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;    <span class="keywordtype">bool</span> passed = str1 == str2;</div><div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;    <span class="keywordflow">if</span> (passed) {</div><div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;      <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;    } <span class="keywordflow">else</span></div><div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;      <span class="keywordflow">return</span> 1;</div><div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;  }</div><div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;}</div><div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#af8b3a3504735942b09ce47ad0c33f81a">serialize_broadphase_failure_test</a>(<span class="keyword">const</span> CollisionChecker *cc,</div><div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;                                      <span class="keyword">const</span> CollisionObject *obj) {</div><div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;  test::BroadphaseFailureCCObj bf;</div><div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;  bf.cc =</div><div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;      std::static_pointer_cast&lt;const CollisionChecker&gt;(cc-&gt;shared_from_this());</div><div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;  bf.obj = obj-&gt;shared_from_this();</div><div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;  std::stringstream strstr1;</div><div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;  std::stringstream strstr2;</div><div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;  std::string str1;</div><div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;  std::string str2;</div><div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;  <a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize::serialize</a>(bf, strstr1);</div><div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;  str1 = strstr1.str();</div><div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;  BroadphaseFailureCCObj bf_load;</div><div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;  <a class="code" href="namespacecollision_1_1serialize.html#afa68d93c7ceeaba3b3a6a32bf9917aba">serialize::deserialize</a>(bf_load, strstr1);</div><div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;  <span class="keywordflow">if</span> (bf_load.cc.get() &amp;&amp; bf_load.obj.get()) {</div><div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;    <a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize::serialize</a>(bf_load, strstr2);</div><div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;    str2 = strstr2.str();</div><div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;    <span class="keywordtype">bool</span> passed = str1 == str2;</div><div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;    <span class="keywordflow">if</span> (passed) {</div><div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;      <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;    } <span class="keywordflow">else</span></div><div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;      <span class="keywordflow">return</span> 1;</div><div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;  }</div><div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;}</div><div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;</div><div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;<span class="keywordtype">int</span> serialize_broadphase_failure(<span class="keyword">const</span> CollisionChecker *cc,</div><div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;                                 <span class="keyword">const</span> CollisionObject *obj) {</div><div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;  test::BroadphaseFailureCCObj bf;</div><div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;  bf.cc =</div><div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;      std::static_pointer_cast&lt;const CollisionChecker&gt;(cc-&gt;shared_from_this());</div><div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;  bf.obj = obj-&gt;shared_from_this();</div><div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;  std::string filename = <a class="code" href="namespacecollision_1_1test.html#af0536b7bcba1a80ae6aa4907f88f12b0">get_free_file</a>(<span class="stringliteral">&quot;broadphase_failure_cc_obj&quot;</span>, 10000,</div><div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;                                       BROADPHASE_DUMP_DIRECTORY);</div><div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;  <span class="keywordflow">if</span> (filename == <span class="stringliteral">&quot;&quot;</span>)</div><div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;  std::ofstream ofs(filename, std::ofstream::out);</div><div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;  <a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize::serialize</a>(bf, ofs);</div><div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;  ofs.close();</div><div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;}</div><div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;<span class="keywordtype">int</span> serialize_broadphase_failure(<span class="keyword">const</span> CollisionObject *obj1,</div><div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;                                 <span class="keyword">const</span> CollisionObject *obj2) {</div><div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;  test::BroadphaseFailureObjObj bf;</div><div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;  bf.obj1 = obj1-&gt;shared_from_this();</div><div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;  bf.obj2 = obj2-&gt;shared_from_this();</div><div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;  std::string filename = <a class="code" href="namespacecollision_1_1test.html#af0536b7bcba1a80ae6aa4907f88f12b0">get_free_file</a>(<span class="stringliteral">&quot;broadphase_failure_obj_obj&quot;</span>, 10000,</div><div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;                                       BROADPHASE_DUMP_DIRECTORY);</div><div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;  <span class="keywordflow">if</span> (filename == <span class="stringliteral">&quot;&quot;</span>)</div><div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;  std::ofstream ofs(filename, std::ofstream::out);</div><div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;  <a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize::serialize</a>(bf, ofs);</div><div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;  ofs.close();</div><div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;}</div><div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;</div><div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(<span class="keyword">const</span> ShapeGroup *sg1, <span class="keyword">const</span> ShapeGroup *sg2) {</div><div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;  serialize_broadphase_failure(sg1, sg2);</div><div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;  std::ostringstream outstrstream;</div><div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;  outstrstream &lt;&lt; <span class="stringliteral">&quot;[Broadphase failure]&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;  sg1-&gt;toString(outstrstream);</div><div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;  sg2-&gt;toString(outstrstream);</div><div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;  outstrstream &lt;&lt; <span class="stringliteral">&quot;[/Broadphase failure]&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;  TestFailureLoggerBroadphase logger;</div><div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;  logger.log_failure(outstrstream.str());</div><div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;}</div><div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1test.html#afc7e93e0813ceb9bb9ae532ce7931edd">test_tolerance_check</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;                          <span class="keyword">const</span> CollisionChecker *cc) {</div><div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;</div><div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;  <span class="keywordtype">bool</span> result = <span class="keyword">true</span>;</div><div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">distance</a> = std::numeric_limits&lt;FCL_PRECISION&gt;::max();</div><div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;  <span class="keywordtype">bool</span> true_Failure = <span class="keyword">false</span>;</div><div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;</div><div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;obj : cc-&gt;getObstacles()) {</div><div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;</div><div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;    <span class="keywordflow">if</span> (obj-&gt;getCollisionObjectClass() == <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0">OBJ_CLASS_TVOBSTACLE</a> ||</div><div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;        co-&gt;getCollisionObjectClass() == <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0">OBJ_CLASS_TVOBSTACLE</a>) {</div><div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;      <span class="keywordtype">bool</span> tvgroup_tolerance_passed = <span class="keyword">true</span>;</div><div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;      <span class="keywordtype">int</span> time_start_idx = 0, time_end_idx = 0;</div><div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;      <span class="keyword">const</span> TimeVariantCollisionObject *obj_tv = 0;</div><div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;      <span class="keyword">const</span> TimeVariantCollisionObject *co_tv = 0;</div><div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;      <span class="keywordflow">if</span> (co-&gt;getCollisionObjectClass() == <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0">OBJ_CLASS_TVOBSTACLE</a>) {</div><div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;        co_tv = static_cast&lt;const TimeVariantCollisionObject *&gt;(co.get());</div><div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;      }</div><div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;      <span class="keywordflow">if</span> (obj-&gt;getCollisionObjectClass() == <a class="code" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0">OBJ_CLASS_TVOBSTACLE</a>) {</div><div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;        obj_tv = static_cast&lt;const TimeVariantCollisionObject *&gt;(obj.get());</div><div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;      }</div><div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;      <span class="keywordflow">if</span> (obj_tv &amp;&amp; co_tv) {</div><div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;        time_start_idx =</div><div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;            std::min(obj_tv-&gt;time_start_idx(), co_tv-&gt;time_start_idx());</div><div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;        time_end_idx = std::max(obj_tv-&gt;time_end_idx(), co_tv-&gt;time_end_idx());</div><div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;        <span class="keywordflow">if</span> (obj_tv) {</div><div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;          time_start_idx = obj_tv-&gt;time_start_idx();</div><div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;          time_end_idx = obj_tv-&gt;time_end_idx();</div><div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;        } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (co_tv) {</div><div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;          time_start_idx = co_tv-&gt;time_start_idx();</div><div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;          time_end_idx = co_tv-&gt;time_end_idx();</div><div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;        } <span class="keywordflow">else</span></div><div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;          <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;      }</div><div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> time_idx = time_start_idx; time_idx &lt; time_end_idx; time_idx++) {</div><div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;</div><div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;        <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj1(<span class="keyword">nullptr</span>);</div><div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;        <span class="keywordflow">if</span> (obj_tv) {</div><div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;          obj1 = obj_tv-&gt;getObstacleAtTime(time_idx);</div><div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;        } <span class="keywordflow">else</span></div><div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;          obj1 = obj;</div><div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;        <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2(<span class="keyword">nullptr</span>);</div><div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;        <span class="keywordflow">if</span> (co_tv)</div><div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;          obj2 = co_tv-&gt;getObstacleAtTime(time_idx);</div><div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;          obj2 = co;</div><div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;        <span class="keywordflow">if</span> (!obj1.get() || !obj2.get()) {</div><div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;          <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;        }</div><div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160;</div><div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;        <span class="keywordtype">bool</span> tol_res = <span class="keyword">false</span>;</div><div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;        <span class="keywordtype">double</span> dist = 0;</div><div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;        ToleranceCheck(obj1, obj2, tol_res, dist);</div><div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;        <span class="keywordflow">if</span> (!tol_res) {</div><div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;          tvgroup_tolerance_passed = <span class="keyword">false</span>;</div><div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;          <span class="keywordflow">break</span>;</div><div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;        }</div><div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;      }</div><div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;      <span class="keywordflow">if</span> (tvgroup_tolerance_passed) {</div><div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;        result = <span class="keyword">true</span>;</div><div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;        result = <span class="keyword">false</span>;</div><div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;      }</div><div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;      <span class="keywordtype">bool</span> tol_res = <span class="keyword">false</span>;</div><div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;      <span class="keywordtype">double</span> dist = 0;</div><div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;      ToleranceCheck(obj, co, tol_res, dist);</div><div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;      <span class="keywordflow">if</span> (!tol_res) {</div><div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;        result = <span class="keyword">false</span>;</div><div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;      }</div><div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;    }</div><div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;    <span class="keywordflow">if</span> (!result) {</div><div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;      true_Failure = <span class="keyword">true</span>;</div><div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;    }</div><div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;  }</div><div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;  <span class="keywordflow">return</span> true_Failure;</div><div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;}</div><div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co,</div><div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;                           <span class="keyword">const</span> CollisionChecker *cc) {</div><div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;</div><div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;  serialize_broadphase_failure(cc, co.get());</div><div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;  std::ostringstream outstrstream;</div><div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;  outstrstream &lt;&lt; <span class="stringliteral">&quot;[Broadphase failure]&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;  co-&gt;toString(outstrstream);</div><div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;  cc-&gt;toString(outstrstream);</div><div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;  TestFailureLoggerBroadphase logger;</div><div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;</div><div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;  logger.log_failure(outstrstream.str());</div><div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;}</div><div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">log_broadphase_failure</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keyword">const</span> ShapeGroup *sg) {</div><div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;</div><div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;  std::string outstr;</div><div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;  std::ostringstream outstrstream;</div><div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;  outstrstream &lt;&lt; <span class="stringliteral">&quot;[Broadphase failure]&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;  co-&gt;toString(outstrstream);</div><div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;  sg-&gt;toString(outstrstream);</div><div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;  outstrstream &lt;&lt; <span class="stringliteral">&quot;[/Broadphase failure]&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;  TestFailureLoggerBroadphase logger;</div><div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;  logger.log_failure(outstrstream.str());</div><div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;}</div><div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;</div><div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;} <span class="comment">// namespace test</span></div><div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="fcl__collision__queries_8h_html"><div class="ttname"><a href="fcl__collision__queries_8h.html">fcl_collision_queries.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a635c8291d80696e1bb292dbb51c8d447a9f0b2f5aaa70665345134e2b8fc007a9"><div class="ttname"><a href="namespacecollision.html#a635c8291d80696e1bb292dbb51c8d447a9f0b2f5aaa70665345134e2b8fc007a9">collision::DRT_TOLERANCE_NEG</a></div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00007">distance_requests.h:7</a></div></div>
<div class="ttc" id="broadphase__failure_8h_html"><div class="ttname"><a href="broadphase__failure_8h.html">broadphase_failure.h</a></div></div>
<div class="ttc" id="namespacecollision_html_aeb672fde41a9aa0fcc1c5da8af2e4657"><div class="ttname"><a href="namespacecollision.html#aeb672fde41a9aa0fcc1c5da8af2e4657">collision::ShapeConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const Shape &gt; ShapeConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00098">collision_object.h:98</a></div></div>
<div class="ttc" id="namespacecollision_html_a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0"><div class="ttname"><a href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843fa423bdf5f1930e0fe19325bed802a3ff0">collision::OBJ_CLASS_TVOBSTACLE</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00011">collision_object_types.h:11</a></div></div>
<div class="ttc" id="shape__group_8h_html"><div class="ttname"><a href="shape__group_8h.html">shape_group.h</a></div></div>
<div class="ttc" id="classcollision_1_1_polygon_html_a6c6fe0fa3c4ddac8549dd2149f106638"><div class="ttname"><a href="classcollision_1_1_polygon.html#a6c6fe0fa3c4ddac8549dd2149f106638">collision::Polygon::getTriangleMesh</a></div><div class="ttdeci">std::vector&lt; TriangleConstPtr &gt; getTriangleMesh() const</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8cc_source.html#l00110">polygon.cc:110</a></div></div>
<div class="ttc" id="namespacetest_html"><div class="ttname"><a href="namespacetest.html">test</a></div><div class="ttdef"><b>Definition:</b> <a href="performance__timers_8cc_source.html#l00015">performance_timers.cc:15</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a5af3e71a3a130019e8ca5549b422cd8c"><div class="ttname"><a href="namespacecollision_1_1test.html#a5af3e71a3a130019e8ca5549b422cd8c">collision::test::serialize_narrowphase_failure_helper_obj</a></div><div class="ttdeci">int serialize_narrowphase_failure_helper_obj(CollisionObjectConstPtr obj1, CollisionObjectConstPtr obj2)</div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a1a0cfe3788cdfe0cfef2ea514f587542"><div class="ttname"><a href="namespacecollision_1_1test.html#a1a0cfe3788cdfe0cfef2ea514f587542">collision::test::log_narrowphase_failure</a></div><div class="ttdeci">int log_narrowphase_failure(const ShapeGroup *sg1, const ShapeGroup *sg2, const std::vector&lt; std::pair&lt; int, int &gt;&gt; &amp;failure_pair_export)</div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3a3dcd4853033e080918950cce263f8bc7">collision::TYPE_POLYGON</a></div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00018">shape.h:18</a></div></div>
<div class="ttc" id="namespacecollision_html_a4b0347dddcd269a552b35598dff6ddd4"><div class="ttname"><a href="namespacecollision.html#a4b0347dddcd269a552b35598dff6ddd4">collision::RectangleAABBConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const RectangleAABB &gt; RectangleAABBConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00101">collision_object.h:101</a></div></div>
<div class="ttc" id="namespacecollision_html_a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b"><div class="ttname"><a href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aa8ebb6af9dcffddc56e2de7bad9a3508b">collision::COL_DEFAULT</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00006">collision_requests.h:6</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_af8b3a3504735942b09ce47ad0c33f81a"><div class="ttname"><a href="namespacecollision_1_1test.html#af8b3a3504735942b09ce47ad0c33f81a">collision::test::serialize_broadphase_failure_test</a></div><div class="ttdeci">int serialize_broadphase_failure_test(const CollisionChecker *cc, const CollisionObject *obj)</div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html"><div class="ttname"><a href="classcollision_1_1_shape_group.html">collision::ShapeGroup</a></div><div class="ttdoc">ShapeGroup can contain simple shapes.</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8h_source.html#l00033">shape_group.h:33</a></div></div>
<div class="ttc" id="namespacecollision_html_a5bc2e62fec3c4891d44fe2863d3d8102"><div class="ttname"><a href="namespacecollision.html#a5bc2e62fec3c4891d44fe2863d3d8102">collision::distance</a></div><div class="ttdeci">std::size_t distance(const CollisionObject &amp;obj1, const CollisionObject &amp;obj2, DistanceResult &amp;res, const DistanceRequest &amp;req)</div><div class="ttdef"><b>Definition:</b> <a href="distance__queries_8cc_source.html#l00092">distance_queries.cc:92</a></div></div>
<div class="ttc" id="namespacecollision_html_a6e97ae92656250cd1667b6a73100843faef4730e258514d4a36debe756989c1cf"><div class="ttname"><a href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843faef4730e258514d4a36debe756989c1cf">collision::OBJ_CLASS_SHAPE</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__object__types_8h_source.html#l00009">collision_object_types.h:9</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_af0536b7bcba1a80ae6aa4907f88f12b0"><div class="ttname"><a href="namespacecollision_1_1test.html#af0536b7bcba1a80ae6aa4907f88f12b0">collision::test::get_free_file</a></div><div class="ttdeci">std::string get_free_file(std::string prefix, int max_files, std::string directory)</div></div>
<div class="ttc" id="namespacecollision_html_a3bbf810574830553bd17aafbd8564451a5421ae9fbe53e10620ba9c6fd709d4f4"><div class="ttname"><a href="namespacecollision.html#a3bbf810574830553bd17aafbd8564451a5421ae9fbe53e10620ba9c6fd709d4f4">collision::DNT_NARROWPHASE</a></div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00008">distance_requests.h:8</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_ab54054c0932ec90631ea307be67c38fc"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ab54054c0932ec90631ea307be67c38fc">collision::solvers::solverFCL::get_fcl_object_ptr</a></div><div class="ttdeci">const FCLCollisionObject * get_fcl_object_ptr(const CollisionObject *obj)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__helpers_8h_source.html#l00046">fcl_helpers.h:46</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a183ce295a1837280f09ef456a3533b6b"><div class="ttname"><a href="namespacecollision_1_1test.html#a183ce295a1837280f09ef456a3533b6b">collision::test::serialize_narrowphase_failure</a></div><div class="ttdeci">int serialize_narrowphase_failure(ShapeConstPtr co, const ShapeGroup *sg, const std::vector&lt; int &gt; &amp;failure_export)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html_ad41dbbaf44670796d414e27cd9457a53"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html#ad41dbbaf44670796d414e27cd9457a53">collision::test::ShapeGroupTest::run_test_collide</a></div><div class="ttdeci">bool run_test_collide(CollisionObjectConstPtr co, const ShapeGroup *sg)</div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a6b8e7afe85eba8f28f984a68370c4af0"><div class="ttname"><a href="namespacecollision_1_1test.html#a6b8e7afe85eba8f28f984a68370c4af0">collision::test::serialize_narrowphase_failure_helper</a></div><div class="ttdeci">int serialize_narrowphase_failure_helper(ShapeConstPtr obj1, ShapeConstPtr obj2)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_collision_checker_test_html_ad6f104b12727529c3e91b29b21e07f6b"><div class="ttname"><a href="classcollision_1_1test_1_1_collision_checker_test.html#ad6f104b12727529c3e91b29b21e07f6b">collision::test::CollisionCheckerTest::run_test_collide</a></div><div class="ttdeci">bool run_test_collide(CollisionObjectConstPtr co, const collision::CollisionChecker *cc)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_collision_checker_test_html_adea6847b8308d19c0ed26f6acc169bec"><div class="ttname"><a href="classcollision_1_1test_1_1_collision_checker_test.html#adea6847b8308d19c0ed26f6acc169bec">collision::test::CollisionCheckerTest::run_test_collide_obstacle</a></div><div class="ttdeci">bool run_test_collide_obstacle(CollisionObjectConstPtr co, const collision::CollisionChecker *cc)</div></div>
<div class="ttc" id="namespacecollision_1_1serialize_html_afa68d93c7ceeaba3b3a6a32bf9917aba"><div class="ttname"><a href="namespacecollision_1_1serialize.html#afa68d93c7ceeaba3b3a6a32bf9917aba">collision::serialize::deserialize</a></div><div class="ttdeci">int deserialize(test::BroadphaseFailureCCObj &amp;bf_object, std::istream &amp;input_stream, const char *format=SERIALIZER_DEFAULT_FORMAT)</div></div>
<div class="ttc" id="broadphase__test_8h_html"><div class="ttname"><a href="broadphase__test_8h.html">broadphase_test.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_afc7e93e0813ceb9bb9ae532ce7931edd"><div class="ttname"><a href="namespacecollision_1_1test.html#afc7e93e0813ceb9bb9ae532ce7931edd">collision::test::test_tolerance_check</a></div><div class="ttdeci">bool test_tolerance_check(CollisionObjectConstPtr co, const CollisionChecker *cc)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html_a2c2d47482f2494547b4fd4a16a023cde"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html#a2c2d47482f2494547b4fd4a16a023cde">collision::test::ShapeGroupTest::test_overlap_map</a></div><div class="ttdeci">bool test_overlap_map(const ShapeGroup *sg1, const ShapeGroup *sg2, std::vector&lt; std::pair&lt; int, int &gt;&gt; *missed_col_naive_out=0)</div></div>
<div class="ttc" id="test__common_8h_html"><div class="ttname"><a href="test__common_8h.html">test_common.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries_html_ae32aeaffef16429ed08cf60bc5dacb09"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l_1_1fcl__primitive__queries.html#ae32aeaffef16429ed08cf60bc5dacb09">collision::solvers::solverFCL::fcl_primitive_queries::fcl_generic_collisionDetection</a></div><div class="ttdeci">bool fcl_generic_collisionDetection(const FCLCollisionObject &amp;obj_first, const FCLCollisionObject &amp;obj_second)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__queries_8h_source.html#l00088">fcl_collision_queries.h:88</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a></div><div class="ttdoc">Axis-aligned rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00018">rectangle_aabb.h:18</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a6cc258c3990b4c3a8d0a4c6157012e3a"><div class="ttname"><a href="namespacecollision_1_1test.html#a6cc258c3990b4c3a8d0a4c6157012e3a">collision::test::log_broadphase_failure</a></div><div class="ttdeci">int log_broadphase_failure(CollisionObjectConstPtr co, const ShapeGroup *sg)</div></div>
<div class="ttc" id="serialize__public_8h_html"><div class="ttname"><a href="serialize__public_8h.html">serialize_public.h</a></div></div>
<div class="ttc" id="collision__checker_8h_html"><div class="ttname"><a href="collision__checker_8h.html">collision_checker.h</a></div></div>
<div class="ttc" id="distance__queries_8h_html"><div class="ttname"><a href="distance__queries_8h.html">distance_queries.h</a></div></div>
<div class="ttc" id="namespacecollision_html_a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab"><div class="ttname"><a href="namespacecollision.html#a5710326b44abbfb109e65257ee5f310aae87b36802cf34cd7fc17472a7143a0ab">collision::COL_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__requests_8h_source.html#l00006">collision_requests.h:6</a></div></div>
<div class="ttc" id="rectangle__aabb_8h_html"><div class="ttname"><a href="rectangle__aabb_8h.html">rectangle_aabb.h</a></div></div>
<div class="ttc" id="application__settings_8h_html"><div class="ttname"><a href="application__settings_8h.html">application_settings.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1serialize_html_aea63e6d672588912102de4dbfc13ba19"><div class="ttname"><a href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">collision::serialize::serialize</a></div><div class="ttdeci">int serialize(const test::BroadphaseFailureCCObj &amp;bf_object, std::ostream &amp;output_stream, const char *format=SERIALIZER_DEFAULT_FORMAT)</div></div>
<div class="ttc" id="namespacecollision_html_a3bbf810574830553bd17aafbd8564451a8d349a60446229f9254fc56c00ad4ea9"><div class="ttname"><a href="namespacecollision.html#a3bbf810574830553bd17aafbd8564451a8d349a60446229f9254fc56c00ad4ea9">collision::DNT_AABB</a></div><div class="ttdef"><b>Definition:</b> <a href="distance__requests_8h_source.html#l00008">distance_requests.h:8</a></div></div>
<div class="ttc" id="collision__object_8h_html"><div class="ttname"><a href="collision__object_8h.html">collision_object.h</a></div></div>
<div class="ttc" id="classcollision_1_1test_1_1_collision_checker_test_html_aa064302d3248cdbd8985ae9f9d06a9fa"><div class="ttname"><a href="classcollision_1_1test_1_1_collision_checker_test.html#aa064302d3248cdbd8985ae9f9d06a9fa">collision::test::CollisionCheckerTest::run_test_collide_obstacles</a></div><div class="ttdeci">bool run_test_collide_obstacles(CollisionObjectConstPtr co, const collision::CollisionChecker *cc)</div></div>
<div class="ttc" id="classcollision_1_1_shape_group_html_a0a570ef4b0d6ee7ea2f2f1721d528a43"><div class="ttname"><a href="classcollision_1_1_shape_group.html#a0a570ef4b0d6ee7ea2f2f1721d528a43">collision::ShapeGroup::addToGroup</a></div><div class="ttdeci">void addToGroup(ShapeConstPtr shape)</div><div class="ttdoc">Adds a simple shape to the ShapeGroup.</div><div class="ttdef"><b>Definition:</b> <a href="shape__group_8cc_source.html#l00139">shape_group.cc:139</a></div></div>
<div class="ttc" id="namespacecollision_1_1test_html_a2385c8f84fe008797bc23bea612685a4"><div class="ttname"><a href="namespacecollision_1_1test.html#a2385c8f84fe008797bc23bea612685a4">collision::test::log_parentmap_failure</a></div><div class="ttdeci">int log_parentmap_failure(CollisionObjectConstPtr co)</div></div>
<div class="ttc" id="classcollision_1_1test_1_1_shape_group_test_html_adc5f5a28b1a6cee9de57a69f15f3e0bc"><div class="ttname"><a href="classcollision_1_1test_1_1_shape_group_test.html#adc5f5a28b1a6cee9de57a69f15f3e0bc">collision::test::ShapeGroupTest::run_test_narrowphase</a></div><div class="ttdeci">bool run_test_narrowphase(CollisionObjectConstPtr co, const ShapeGroup *sg)</div></div>
<div class="ttc" id="classcollision_1_1_polygon_html"><div class="ttname"><a href="classcollision_1_1_polygon.html">collision::Polygon</a></div><div class="ttdoc">Polygon contains Triangles and Vertices.</div><div class="ttdef"><b>Definition:</b> <a href="polygon_8h_source.html#l00019">polygon.h:19</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a50aaacd0d14839e82e461617b0fba465"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a50aaacd0d14839e82e461617b0fba465">collision::solvers::solverFCL::get_fcl_object_group_ptr</a></div><div class="ttdeci">const FCLCollisionObjectGroup * get_fcl_object_group_ptr(const CollisionObject *obj)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__helpers_8h_source.html#l00031">fcl_helpers.h:31</a></div></div>
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